CN207757632U - Indoor a variety of security information independently acquire and active push robot at home - Google Patents
Indoor a variety of security information independently acquire and active push robot at home Download PDFInfo
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- CN207757632U CN207757632U CN201820022887.8U CN201820022887U CN207757632U CN 207757632 U CN207757632 U CN 207757632U CN 201820022887 U CN201820022887 U CN 201820022887U CN 207757632 U CN207757632 U CN 207757632U
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- security information
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Abstract
The utility model is related to a kind of more dangerous information detections, the indoor movable security robots of danger source tracing and positioning, information active push, independent navigation.Include mainly：Fire detection, leak water detdction, intrusion detection and tracing and positioning, gas leakage detection and leak position；The robot accesses network, and above-mentioned dangerous information is uploaded to cloud server, and active push is to user's smart machine；The robot uses wheeled construction, completes vision guided navigation using wheel speed meter and camera, realizes robot autonomous movement.The robot has many advantages, such as low cost, esy to use, safe and reliable, flexible and efficient, can be used as a kind of reference in household safety-protection field relative to existing traditional-family's safety-protection system.
Description
Technical field
The present invention relates to a kind of more dangerous information detections, the rooms of danger source tracing and positioning, information active push, independent navigation
Interior removable security robot.
Background technology
Position and the monitoring camera of dangerous situation easily occur using sensor to be mounted on for traditional Household security system
The mode being combined, installation difficulty is big, and cabling is complicated, while can destroy the Decoration Design of family, very unsightly；Need arrangement more
A sensor and monitoring camera could effectively monitor household safe information, costly；Therefore, traditional family peace
Anti- system is rarely applied in the life of general public.The present invention devises a kind of a variety of security information in house interior and independently acquires
With active push robot, which has many advantages, such as low cost, esy to use, safe and reliable, flexible and efficient, can be used as
A kind of reference in household safety-protection field.
Invention content
To solve the above-mentioned problems, the present invention devises indoor a variety of security information at home and independently acquires and active push machine
Device people, the robot have temperature sensor, increase the possibility that reflection fire occurs indirectly suddenly by temperature；The robot has
There is humidity sensor, increases indirect reaction water leakage situation suddenly by humidity；The robot has gas sensor array, can be with
Combustible gas leakage is monitored, and source of leaks is positioned；The robot has sound transducer array, can monitor abnormal sound
Sound signal, and sound source is positioned, realize intrusion detection；There are one cameras for robot tool, can be regarded to room
Frequency monitors, while being inputted as the data of vision guided navigation；The robot can move freely at home, be carried out to family information comprehensive
Monitoring.
The object of the present invention is achieved like this：Indoor a variety of security information independently acquire and active push machine at home
People, trolley mechanical platform that it is driven by band there are two auxiliary universal wheel and two wheel guide robot are respectively connect with two driving wheels
Photoelectric encoder, camera, temperature sensor, humidity sensor, sound transducer array, gas sensor array, wifi moulds
Block, decision-making module, control module, power module are constituted.
The trolley mechanical platform is two layers of aluminium alloy plate structure, and bottom aluminium alloy plate passes through motor as dolly chassis
Holder connects two DC speed-reducings, and motor is separately connected two rubber wheels, the photoelectric encoder respectively with two electricity
Machine is connected, and two universal wheels are connect by connecting shaft with chassis, and four wheels are distributed with the chassis center of circle in cruciform symmetry.
The temperature sensor and humidity sensor are placed in upper layer aluminium alloy plate surface.
The power module is made of battery and power supply circuit board, is located above dolly chassis at center, the control mould
Block and decision-making module are located at power module both sides, and the camera is located at dolly chassis front, and the wifi module is located at
Dolly chassis tail portion.
The sound transducer array is located at upper layer aluminium alloy plate, is made of four microphone units, wherein three are located at
Upper layer aluminium alloy plate surface, the 4th connect increase vertical height, four microphones with the metallic rod perpendicular to flat surface of aluminum alloy
Unit constitutes positive tetrahedron structure.
The gas sensor array is made of six gas concentration sensors, is constituted topological structure with equal radiuses, passed through
Horizontal metal bar is connected to above-mentioned vertical metal bar, is distributed in around robot with horizontality.
The beneficial effects of the invention are as follows：
The first, independently acquisition uses in-wheel driving structure, fortune to indoor a variety of security information with active push robot at home
Dynamic performance is good, is suitable for indoor moving so that monitoring range bigger, monitoring mode are more flexible.
The second, temperature sensor can suddenly be increased according to temperature, indirect reaction fire condition.
Third, humidity sensor can suddenly be increased according to humidity, indirect reaction water leakage situation.
4th, gas sensor array can position gas leakage source according to gas concentration.
5th, sound transducer array can position abnormal sound source according to the sodar time difference.
Six, robots can complete the security protection task of entire family, simplify difficulty of deploying troops on garrison duty, cost-effective.
Description of the drawings
Fig. 1 is that a variety of security information indoor at home of the invention independently illustrate by acquisition and the overall structure of active push robot
Figure；
Fig. 2 is that a variety of security information indoor at home of the invention independently illustrate by acquisition and the decomposition texture of active push robot
Figure.
In figure：Lower layer's aluminium alloy plate (1), electric machine support (2), DC speed-reducing (3), rubber wheel (4), photoelectricity are compiled
Code device (5), universal wheel (6), power module (7), control module (8), decision-making module (9), camera (10), wifi module
(11), upper layer aluminium alloy plate (12), gas sensor array (13), sound transducer array (14), temperature sensor (15),
Humidity sensor (16), supporting rod (17), vertical pillars (18).
Specific implementation mode
The specific embodiment of the invention is described in further detail below in conjunction with the accompanying drawings.
The indoor a variety of security information in the house of the present embodiment independently illustrate by acquisition and the overall structure of active push robot
Figure, decomposition texture schematic diagram difference are as shown in Figure 1 and Figure 2.It is slowed down electric by lower layer's aluminium alloy plate (1), electric machine support (2), direct current
Machine (3), rubber wheel (4), photoelectric encoder (5), universal wheel (6), power module (7), control module (8), decision-making module
(9), camera (10), wifi module (11), upper layer aluminium alloy plate (12), gas sensor array (13), sound transducer battle array
Arrange (14), temperature sensor (15), humidity sensor (16), supporting rod (17), vertical pillars (18) composition.
Lower layer's aluminium alloy plate (1) connects upper layer aluminium alloy plate (12) by supporting rod (17)；Lower layer's aluminium alloy
It is connect with DC speed-reducing (3) by electric machine support (2) below plate (1)；The rubber wheel (4) and DC speed-reducing
(3) it connects；The universal wheel (6) directly connect with lower layer's aluminium alloy plate (1)；The rubber wheel (4) and universal wheel (6) are below
Layer aluminium alloy plate (1) center is that axis is distributed in cruciform symmetry；Said units collectively form the mechanical structure of trolley.
The photoelectric encoder (5) is connected with DC speed-reducing (3), and robot movement is provided by measurement motor rotating speed
The information of speed.
The indoor a variety of security information in the house of the present embodiment are independently acquired with active push robot first layer by power supply mould
Block (7), motion-control module (8), decision-making module (9), camera (10), wifi module (11) are constituted.The power module
(7) it is placed in center, electricity is provided for whole system；The control module (8) is placed on the right side of power module (7), by with
Stm32 is the microcontroller and L298N drive modules composition of core, realizes the motion control to robot；The decision-making module (9)
Using ARM kernel processes
Device is placed on the left of power module (7), is completed data processing and is made a policy；The camera (10) is placed in machine
In front of people, image data is acquired, while decision-making module (9) being coordinated to complete independent navigation；The wifi module (11) is placed in machine
People rear, wirelessly accesses network, realizes the upload of dangerous information.
Independently acquisition is passed with the active push robot second layer by gas the indoor a variety of security information in the house of the present embodiment
Sensor array (13), sound transducer array (14), temperature sensor (15), humidity sensor (16) are constituted.The temperature passes
Sensor (15) is placed in upper layer aluminium alloy plate surface, increases the possibility of indirect reaction fire generation suddenly according to temperature；The humidity
Sensor (16) is placed in upper layer aluminium alloy plate surface, increases indirect water leakage situation suddenly according to humidity；The gas sensor battle array
Row (13) are made of six gas concentration sensors, to wait radiuses to be constituted topological structure, are connect with vertical pillars (18), in level
State is distributed in around robot, by the concentration data difference of six gas concentration sensors, determines leakage gas source；It is described
Sound transducer array (14) is made of four microphone units, wherein three be located at upper layer aluminium alloy plate (12) surface, the 4th
A to increase vertical height by vertical pillars (18), four microphone units constitute positive tetrahedron structure, pass through the sodar time difference
Determine sound source.
Claims (7)
1. the autonomous acquisition of indoor a variety of security information and active push robot at home, by band, there are two auxiliary universal wheels and two for it
Wheel differential driving trolley mechanical platform, connect respectively with two driving wheels photoelectric encoder, camera, temperature sensor,
Humidity sensor, sound transducer array, gas sensor array, wifi module, decision-making module, control module, power module
It constitutes；
The trolley mechanical platform is two layers of aluminium alloy plate structure, and bottom aluminium alloy plate passes through electric machine support as dolly chassis
Connect two DC speed-reducings, motor is separately connected two rubber wheels, the photoelectric encoder respectively with two motor phases
Even, two universal wheels are connect by connecting shaft with chassis, and four wheels are distributed with the chassis center of circle in cruciform symmetry；
The power module is made of battery and power supply circuit board, is located above dolly chassis at center, the control module and
Decision-making module is located at power module both sides, and the camera is located at dolly chassis front, and the wifi module is located at trolley
Chassis tail portion；
The temperature sensor and humidity sensor are placed in upper layer aluminium alloy plate surface；
The sound transducer array is located at upper layer aluminium alloy plate, is made of four microphone units, wherein three are located at upper layer
Aluminium alloy plate surface, the 4th connect increase vertical height, four microphone units with the metallic rod perpendicular to flat surface of aluminum alloy
Constitute positive tetrahedron structure；
The gas sensor array is made of six gas concentration sensors, is constituted topological structure with equal radiuses, passes through level
Metallic rod is connected to above-mentioned vertical metal bar, is distributed in around robot with horizontality.
2. the indoor a variety of security information in house according to claim 1 independently acquire and active push robot, feature
Be, the temperature sensor increased suddenly according to temperature indirect reaction fire generation can.
3. the indoor a variety of security information in house according to claim 1 independently acquire and active push robot, feature
It is, the humidity sensor increases indirect reaction water leakage situation according to humidity suddenly.
4. the indoor a variety of security information in house according to claim 1 independently acquire and active push robot, feature
It is, the sound transducer array positions abnormal sound source according to the sodar time difference.
5. the indoor a variety of security information in house according to claim 1 independently acquire and active push robot, feature
It is, the gas sensor positions gas leakage source according to gas concentration.
6. the indoor a variety of security information in house according to claim 1 independently acquire and active push robot, feature
It is, the robot carries out vision guided navigation by camera.
7. the indoor a variety of security information in house according to claim 1 independently acquire and active push robot, feature
It is, the robot accesses network by wifi, and active upload dangerous information simultaneously pushes to user equipment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820022887.8U CN207757632U (en) | 2018-01-08 | 2018-01-08 | Indoor a variety of security information independently acquire and active push robot at home |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820022887.8U CN207757632U (en) | 2018-01-08 | 2018-01-08 | Indoor a variety of security information independently acquire and active push robot at home |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207757632U true CN207757632U (en) | 2018-08-24 |
Family
ID=63183534
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820022887.8U Expired - Fee Related CN207757632U (en) | 2018-01-08 | 2018-01-08 | Indoor a variety of security information independently acquire and active push robot at home |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207757632U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107877529A (en) * | 2018-01-08 | 2018-04-06 | 哈尔滨理工大学 | Indoor a variety of security information independently gather and active push robot at home |
| CN110154021A (en) * | 2019-05-17 | 2019-08-23 | 北京科技大学 | A kind of sensor electromagnetism self-assembly intelligent robot |
-
2018
- 2018-01-08 CN CN201820022887.8U patent/CN207757632U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107877529A (en) * | 2018-01-08 | 2018-04-06 | 哈尔滨理工大学 | Indoor a variety of security information independently gather and active push robot at home |
| CN110154021A (en) * | 2019-05-17 | 2019-08-23 | 北京科技大学 | A kind of sensor electromagnetism self-assembly intelligent robot |
| CN110154021B (en) * | 2019-05-17 | 2021-03-23 | 北京科技大学 | Sensor electromagnetism self-assembly intelligent robot |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180824 Termination date: 20190108 |